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<div class="title">D:/Workspace/Arduino/prencar/Configuration.h</div>  </div>
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<a href="_configuration_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef Configuration_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define Configuration_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00005"></a>00005 
<a name="l00006"></a><a class="code" href="class_configuration.html">00006</a> <span class="keyword">class </span><a class="code" href="class_configuration.html">Configuration</a>
<a name="l00007"></a>00007 {
<a name="l00008"></a>00008 <span class="keyword">private</span>:
<a name="l00009"></a><a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe">00009</a>   <span class="keyword">static</span> <a class="code" href="class_configuration.html">Configuration</a> <a class="code" href="class_configuration.html#a33a4ec5f460471c076a0b74b48aa7bbe" title="Static reference to the singleton object.">_instance</a>;
<a name="l00010"></a><a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">00010</a>   <span class="keyword">static</span> <span class="keywordtype">boolean</span> <a class="code" href="class_configuration.html#a30bcffe1c1a3b15d41d824f9a1570bf6">_instanceCreated</a>;
<a name="l00011"></a><a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6">00011</a>   <span class="keyword">static</span> byte <span class="keyword">const</span> <a class="code" href="class_configuration.html#a4ac462aa12ad49539d33d3ea718805c6" title="Returns the version of the configuration (number will be increased after a set of new configuration v...">_CONFIGURATIONVERSION</a>;
<a name="l00012"></a><a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74">00012</a>   <span class="keyword">static</span> <span class="keywordtype">long</span> <span class="keyword">const</span> <a class="code" href="class_configuration.html#a7e97b2bad64cee71271070bde2f71b74" title="Defines the serial data rate.">_SERIALSPEED</a>;
<a name="l00013"></a><a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">00013</a>   byte <a class="code" href="class_configuration.html#ae70babe0ee36a4650fbece87d8c7d3ba">_messageFilterLevel</a>;
<a name="l00014"></a><a class="code" href="class_configuration.html#a837faf9a747d5076bc8264f21bd944de">00014</a>   byte <a class="code" href="class_configuration.html#a837faf9a747d5076bc8264f21bd944de">_movePwmLeftPin</a>;
<a name="l00015"></a><a class="code" href="class_configuration.html#afc9f2ecf380cb522726bf9b9db3b22ee">00015</a>   byte <a class="code" href="class_configuration.html#afc9f2ecf380cb522726bf9b9db3b22ee">_movePwmRightPin</a>;
<a name="l00016"></a><a class="code" href="class_configuration.html#a04b90bd7b81fc535be0371f86cb36242">00016</a>   byte <a class="code" href="class_configuration.html#a04b90bd7b81fc535be0371f86cb36242">_moveModeFirstLeftPin</a>;
<a name="l00017"></a><a class="code" href="class_configuration.html#a5d540af2975a193c360ce32847d96c21">00017</a>   byte <a class="code" href="class_configuration.html#a5d540af2975a193c360ce32847d96c21">_moveModeSecondLeftPin</a>;
<a name="l00018"></a><a class="code" href="class_configuration.html#a2fdf55feb1a8b3ecde58405c67afe698">00018</a>   byte <a class="code" href="class_configuration.html#a2fdf55feb1a8b3ecde58405c67afe698">_moveModeFirstRightPin</a>;
<a name="l00019"></a><a class="code" href="class_configuration.html#a6232e7ba37ad172f80c5248239bd8f9b">00019</a>   byte <a class="code" href="class_configuration.html#a6232e7ba37ad172f80c5248239bd8f9b">_moveModeSecondRightPin</a>;
<a name="l00020"></a>00020   <a class="code" href="class_configuration.html#a779947337bf652f0e773cb29f37f14ba">Configuration</a>();
<a name="l00021"></a>00021 <span class="keyword">public</span>:
<a name="l00026"></a><a class="code" href="class_configuration.html#a9ac73982b5d1611bba533567fffbaa3c">00026</a>   <span class="keyword">static</span> byte <span class="keyword">const</span> <a class="code" href="class_configuration.html#a9ac73982b5d1611bba533567fffbaa3c" title="Defines the size of the array in which all dynamic configuration values are saved.">SIZEOFDYNAMICCONFIGURATION</a> = 16;
<a name="l00027"></a>00027   
<a name="l00028"></a>00028   <span class="keyword">static</span> <a class="code" href="class_configuration.html">Configuration</a>* <a class="code" href="class_configuration.html#ae327d26e81014cf46b25802478fe9b8e">getInstance</a>();
<a name="l00029"></a>00029   byte <a class="code" href="class_configuration.html#aecb79d09fce1b802e93a815cedd2a22e">getConfigurationVersion</a>();
<a name="l00030"></a>00030   <span class="keywordtype">long</span> <a class="code" href="class_configuration.html#a75b42e72d9a00415dfafa5d5dd8281b8">getSerialSpeed</a>();
<a name="l00031"></a>00031   byte <a class="code" href="class_configuration.html#ad398e1915b07ffc4091d4d5827bd6c6e">getMessageFilterLevel</a>();
<a name="l00032"></a>00032   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#ac9aec24b13533a9af3cb937fe5662e05">setMessageFilterLevel</a>(byte value);
<a name="l00033"></a>00033   byte <a class="code" href="class_configuration.html#aecc6c34b834bb9adb42d5f8c7314cd9c">getMovePwmLeftPin</a>();
<a name="l00034"></a>00034   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a2298db2f115e9c7daa6924158eac0ee5">setMovePwmLeftPin</a>(byte value);
<a name="l00035"></a>00035   byte <a class="code" href="class_configuration.html#a156dc7d1360c8e70c7aba5eb20481afa">getMovePwmRightPin</a>();
<a name="l00036"></a>00036   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a40c3af95f85bb649a09f67c52e52e5f8">setMovePwmRightPin</a>(byte value);
<a name="l00037"></a>00037   byte <a class="code" href="class_configuration.html#aa1599159aa8233fe3f974fb2e51129e4">getMoveModeFirstLeftPin</a>();
<a name="l00038"></a>00038   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#ac1c03fb6b6462d9db8430f46e1a8ef0f">setMoveModeFirstLeftPin</a>(byte value);
<a name="l00039"></a>00039   byte <a class="code" href="class_configuration.html#a4d1252f0afd9ebb35cc7f38a769fdeff">getMoveModeSecondLeftPin</a>();
<a name="l00040"></a>00040   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#aa5a4573ea03a890274a6c94a6e238686">setMoveModeSecondLeftPin</a>(byte value);
<a name="l00041"></a>00041   byte <a class="code" href="class_configuration.html#a9bf200a445b05745a678d18e46ca446d">getMoveModeFirstRightPin</a>();
<a name="l00042"></a>00042   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a61259ac00808ee06c50ed32045287b5d">setMoveModeFirstRightPin</a>(byte value);
<a name="l00043"></a>00043   byte <a class="code" href="class_configuration.html#a2c95181edbee124c040f5db52c15fdb6">getMoveModeSecondRightPin</a>();
<a name="l00044"></a>00044   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a47380130f77e70e563c79f2b87e3e692">setMoveModeSecondRightPin</a>(byte value);
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e">00046</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#aca67601e35566058e2bca41b7188469e" title="Time in milliseconds to wait before the main loop starts. Can be used for debug purposes.">doJobDelay</a>; 
<a name="l00047"></a>00047 
<a name="l00048"></a><a class="code" href="class_configuration.html#a09d83c2f3c4485fd864bf998e62788d7">00048</a>   byte <a class="code" href="class_configuration.html#a09d83c2f3c4485fd864bf998e62788d7">lineFollowLeftSensorPin</a>;
<a name="l00049"></a><a class="code" href="class_configuration.html#a254b7ac19c994603776d47645235a132">00049</a>   byte <a class="code" href="class_configuration.html#a254b7ac19c994603776d47645235a132">lineFollowRightSensorPin</a>;
<a name="l00050"></a><a class="code" href="class_configuration.html#a683b496d15eca4addb13325d9707abcf">00050</a>   byte <a class="code" href="class_configuration.html#a683b496d15eca4addb13325d9707abcf">lineFollowLeftFrontSensorPin</a>;
<a name="l00051"></a><a class="code" href="class_configuration.html#ab8d7a8d9f62cfafe082cc32915ef4bfa">00051</a>   byte <a class="code" href="class_configuration.html#ab8d7a8d9f62cfafe082cc32915ef4bfa">lineFollowRightFrontSensorPin</a>;
<a name="l00052"></a><a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103">00052</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#aa799e7ed6a4722085506a31c051bf103" title="Interval in milliseconds in which the line follow job shall be executed.">lineFollowInterval</a>; 
<a name="l00053"></a><a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d">00053</a>   byte <a class="code" href="class_configuration.html#a24e118088874b8f9d56bcaf245f1461d" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedLeft</a>; 
<a name="l00054"></a><a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3">00054</a>   byte <a class="code" href="class_configuration.html#aabc113e529eb659768ca98f15d3952a3" title="The initial speed of the left motor when the parcours starts (0-255).">lineFollowInitialSpeedRight</a>; 
<a name="l00055"></a>00055 
<a name="l00063"></a><a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906">00063</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906" title="Threshold value from black to white.">lineFollowWhiteThreshold</a>;
<a name="l00064"></a>00064 
<a name="l00068"></a><a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">00068</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#aabaf837f8816911a6d0b1e8cd7867cb9">lineFollowKp</a>;
<a name="l00072"></a><a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">00072</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#aad2572d8c68520c2ef6613d29f38a9cf">lineFollowKd</a>;
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03">00074</a>   byte <a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03" title="The pin where the servo motor of the hoist is connected to.">liftCubePwmPin</a>; 
<a name="l00075"></a><a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f">00075</a>   byte <a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeUpPosition</a>; 
<a name="l00076"></a><a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83">00076</a>   byte <a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeDownPosition</a>; 
<a name="l00077"></a><a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c">00077</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c" title="Time in milliseconds between the liftDown and the liftUp command of the method LiftCube::liftCube()">liftCubeDownUpDuration</a>; 
<a name="l00078"></a><a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071">00078</a>   byte <a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071" title="Hardware pin to which the end switch is attached.">liftCubeSwitchPin</a>; 
<a name="l00079"></a>00079 
<a name="l00080"></a><a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927">00080</a>   byte <a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve.">curveSpeedSlowMotor</a>; 
<a name="l00081"></a><a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c">00081</a>   byte <a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve.">curveSpeedFastMotor</a>; 
<a name="l00082"></a><a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034">00082</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a>; 
<a name="l00083"></a>00083 
<a name="l00087"></a><a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d">00087</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a>;
<a name="l00088"></a>00088 
<a name="l00089"></a><a class="code" href="class_configuration.html#a64566ef4e13d578a41614a643acfdd51">00089</a>   byte <a class="code" href="class_configuration.html#a64566ef4e13d578a41614a643acfdd51" title="The pin where the left bottom distance sensor is connected to.">cubeApproachLeftBottomSensor</a>; 
<a name="l00090"></a><a class="code" href="class_configuration.html#a5c4874ad8b2a3f5888a0c69fbbb2bb8b">00090</a>   byte <a class="code" href="class_configuration.html#a5c4874ad8b2a3f5888a0c69fbbb2bb8b" title="The pin where the left top distance sensor is connected to.">cubeApproachLeftTopSensor</a>; 
<a name="l00091"></a><a class="code" href="class_configuration.html#a87c9f78ce74ac840afac408a4d321cf1">00091</a>   byte <a class="code" href="class_configuration.html#a87c9f78ce74ac840afac408a4d321cf1" title="The pin where the right bottom distance sensor is connected to.">cubeApproachRightBottomSensor</a>; 
<a name="l00092"></a><a class="code" href="class_configuration.html#ae0ce367a5bec000ca27cd7c80117646d">00092</a>   byte <a class="code" href="class_configuration.html#ae0ce367a5bec000ca27cd7c80117646d" title="The pin where the right top distance sensor is connected to.">cubeApproachRightTopSensor</a>; 
<a name="l00093"></a>00093 
<a name="l00094"></a><a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967">00094</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a9b33a4a750145bf398c4030922784967" title="Interval in milliseconds in which the debug sensors.">sensorDebugInterval</a>; 
<a name="l00095"></a><a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3">00095</a>   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a6c05aa8e21c264aab388e9532f6aa6a3" title="Time in milliseconds between reading every sensor.">sensorDebugReadGap</a>; 
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a0b0009b5114b418831478c031372d12c">getCurrentConfiguration</a>(<span class="keywordtype">long</span>* spaceForConfigValues);
<a name="l00098"></a>00098   <span class="keywordtype">void</span> <a class="code" href="class_configuration.html#a13c417c35f720cae9917b7bed7ceb159">updateConfiguration</a>(<span class="keywordtype">int</span>* parameters);
<a name="l00099"></a>00099   <span class="keywordtype">int</span> <a class="code" href="class_configuration.html#a6ecb6e35520b0877eb8a1ccb47b577b4">getFreeMemory</a>();
<a name="l00100"></a>00100 
<a name="l00101"></a>00101 };
<a name="l00102"></a>00102 
<a name="l00103"></a>00103 <span class="preprocessor">#endif</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span>
<a name="l00105"></a>00105 
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 
<a name="l00108"></a>00108 
<a name="l00109"></a>00109 
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<a name="l00111"></a>00111 
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<a name="l00114"></a>00114 
<a name="l00115"></a>00115 
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